some fixes [multithreading,..]

needed interface changes [new options]
logger for android
wifi-ap-optimization
new test-cases

sensors/radio/WiFiProbabilityFree.h

@@ -4,6 +4,7 @@
 #include "WiFiProbability.h"
 #include "model/WiFiModel.h"
 #include "../../math/Distributions.h"
+#include "VAPGrouper.h"
 
 #include <unordered_map>
 
@@ -17,7 +18,7 @@ private:
 
 	const float sigma = 8.0f;
 
-	const float sigmaPerSecond = 1.5f;
+	const float sigmaPerSecond = 3.0f;
 
 	/** the RSSI prediction model */
 	WiFiModel& model;
@@ -25,23 +26,25 @@ private:
 	/** the map's floorplan */
 	Floorplan::IndoorMap* map;
 
-
 public:
 
 	WiFiObserverFree(const float sigma, WiFiModel& model) : sigma(sigma), model(model) {
 
 	}
 
-
-	double getProbability(const Point3& pos, const Timestamp curTime, const WiFiMeasurements& obs) const {
+	double getProbability(const Point3& pos_m, const Timestamp curTime, const WiFiMeasurements& obs) const {
 
 		double prob = 1.0;
+		int numMatchingAPs = 0;
 
 		// process each measured AP
 		for (const WiFiMeasurement& entry : obs.entries) {
 
+			// sanity check
+			Assert::isFalse(entry.getTimestamp().isZero(), "wifi measurement without timestamp. coding error?");
+
 			// get the model's RSSI (if possible!)
-			const float modelRSSI = model.getRSSI(entry.getAP().getMAC(), pos);
+			const float modelRSSI = model.getRSSI(entry.getAP().getMAC(), pos_m);
 
 			// NaN? -> AP not known to the model -> skip
 			if (modelRSSI != modelRSSI) {continue;}
@@ -53,21 +56,29 @@ public:
 			// the measurement's age
 			const Timestamp age = curTime - entry.getTimestamp();
 
+			Assert::isTrue(age.ms() >= 0, "found a negative wifi measurement age. this does not make sense");
+			Assert::isTrue(age.ms() <= 40000, "found a 40 second old wifi measurement. maybe there is a coding error?");
+
 			// sigma grows with measurement age
 			const float sigma = this->sigma + this->sigmaPerSecond * age.sec();
 
 			// update probability
 			prob *= Distribution::Normal<double>::getProbability(modelRSSI, sigma, scanRSSI);
+			//prob *= Distribution::Region<double>::getProbability(modelRSSI, sigma, scanRSSI);
 
+			++numMatchingAPs;
 
 		}
 
+		// sanity check
+		Assert::isTrue(numMatchingAPs > 0, "not a single measured AP was matched against known ones. coding error? model error?");
+
 		return prob;
 
 	}
 
 	template <typename Node> double getProbability(const Node& n, const Timestamp curTime, const WiFiMeasurements& obs, const int age_ms = 0) const {
-		throw "todo??";
+		throw Exception("todo??");
 	}
 
 };